CN102638035A - Method and system for controlling a DC link voltage of a power converter - Google Patents
Method and system for controlling a DC link voltage of a power converter Download PDFInfo
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- CN102638035A CN102638035A CN2012100323598A CN201210032359A CN102638035A CN 102638035 A CN102638035 A CN 102638035A CN 2012100323598 A CN2012100323598 A CN 2012100323598A CN 201210032359 A CN201210032359 A CN 201210032359A CN 102638035 A CN102638035 A CN 102638035A
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- 238000013016 damping Methods 0.000 abstract description 3
- 230000010358 mechanical oscillation Effects 0.000 description 16
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M5/00—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases
- H02M5/40—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc
- H02M5/42—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc by static converters
- H02M5/44—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc by static converters using discharge tubes or semiconductor devices to convert the intermediate dc into ac
- H02M5/443—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc by static converters using discharge tubes or semiconductor devices to convert the intermediate dc into ac using devices of a thyratron or thyristor type requiring extinguishing means
- H02M5/45—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc by static converters using discharge tubes or semiconductor devices to convert the intermediate dc into ac using devices of a thyratron or thyristor type requiring extinguishing means using semiconductor devices only
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/028—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor controlling wind motor output power
- F03D7/0284—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor controlling wind motor output power in relation to the state of the electric grid
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/76—Power conversion electric or electronic aspects
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- Sustainable Energy (AREA)
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Abstract
It is described a method for controlling a DC link voltage of a power converter connecting an electric generator of a wind turbine with a power grid. The described method comprises (a) determining the rotational speed (e g ) of a rotor of the electric generator, (b) determining a strength of harmonic components of the rotational speed (e g ) of the rotor, wherein the harmonic components have frequency components being different from a fundamental rotational frequency of the electric generator, (c) determining a damping reference signal (PDTD , TDTD) as a function of the determined strength of the harmonic components, and (d) controlling the DC link voltage (VDC) of the power converter in response to the determined damping reference signal (PDTD , TDTD). It is further described a corresponding control system (200, 300, 400, 800, 900) and a computer program, which are configures for carrying out the above described control method.
Description
Technical field
Present invention relates in general to operate the technical field of wind turbine.Especially, present invention relates in general to be used for method and system that the DC link voltage of the power converter of the generator that connects wind turbine and power network is controlled.The invention still further relates to the computer program that is used to carry out described method.
Background technology
Wind power generates and to have obtained main motive force, this owing to the ever-increasing demand of energy, exhaust the benefit of the deposit and the environment of fossil fuel, particularly about the discharging of greenhouse gas.
Wind turbine comprises: drive chain (drive train); This drive chain comprises all mechanical components; This mechanical component comes read fortune to connect at the upper reaches for generator from the function visual angle, and this generator is used to the mechanical energy/power transfer of from wind, catching is become the electric flux/power that offer power network.Important drive chain assembly is for example rotor blade, wheel hub, main shaft and (if being suitable for) gearbox.
When the operation wind turbine, mechanical oscillation takes place in drive chain regularly.Such vibration possibly cause mistake circle (out-of-round) operation of generator, and this mistake circle operation not only has negative effect but also also having negative effect aspect the electricity quality of the energy/power that is offered power network by wind turbine aspect the life-span of wind turbine.Such mechanical oscillation can be so-called " torque oscillation " and/or " velocity fluctuation ".Pure torque oscillation is a kind of vibration, and wherein under any internal motion situation of at least one assembly that does not have drive chain, the value of the torque at least one assembly changes in time.Pure velocity fluctuation is any vibration, and wherein under the situation that does not exist torque to change, the speed of at least a portion of the assembly of drive chain changes in time.Especially, this speed can be rotary speed, yet also possibly be the combination of point-to-point speed or point-to-point speed and rotary speed.Typically, periodically take place over time.
Especially, in the variable-ratio wind turbine, under resonance frequency drive chain and especially the mechanical oscillation of rotor blade can descend and/or wind speed change and excites through line voltage.The mechanical oscillation that is produced by such disturbance can cause the tripping operation of wind turbine and sometimes even cause the structural failure of the assembly (particularly rotor blade) of drive chain.Therefore, be necessary that vibration decays to the Mechanical Driven chain in the variable-ratio wind turbine particularly.
The decay basic principle of such mechanical oscillation of known being used to is to be controlled under power output from the drive chain resonance frequency to the wind turbine that power network is presented so that mechanical oscillation can be reduced under this frequency.Under this background, the wind turbine machine controller has been proposed, it is included in suitable electronic hardware and/or the software filter that comprises in the said controller.Yet; When using the active decay of this type control by means of the wind turbine machine controller of special use; Power oscillation under the mechanical resonant frequency of the assembly of drive chain is sent to power network, its steady state operation condition with comprise that the intermediary operation condition of passing through electric network fault is not preferred in the two.This has and for wind turbine operator, is difficult to satisfy the effect that is required by the given power quality of power network operator, and this power network receives the electrical power that comes from wind turbine.
Possibly there are needs to the effective ways of the mechanical oscillation of the drive chain that allow to reduce wind turbine.
Summary of the invention
This needs can be by satisfying according to the described theme of independent claims.Advantageous embodiment of the present invention is described by dependent claims.
According to the first aspect of invention, a kind of method that the DC link voltage of the power converter of the generator that connects wind turbine and power network is controlled of being used for is provided.The method that is provided comprises: the rotary speed of (a) confirming the rotor of generator; (b) confirm the intensity of harmonic component of the rotary speed of said rotor; Wherein said harmonic component has the frequency component of the basic speed that is different from generator; (c) confirm the decay reference signal according to the intensity of determined harmonic component, and (d) control the DC link voltage of said power converter in response to determined decay reference signal.
Described control method is based on following thought: through the DC link voltage of power controlling transducer, the mechanical oscillation of wind turbine and especially the mechanical oscillation of the drive chain of said wind turbine can be reduced effectively.
Through controlling the DC link voltage in the manner described, by generator responds in unwanted mechanical oscillation drive chain and/or in it of wind turbine and the harmonic power that generates can not be forwarded to said power network via said power converter.Alternatively, the DC link. capacitor that the harmonic power of this generation is sent to the DC link of power converter and is sent to power converter especially.The variation relevant with the time of counteractive DC link voltage appearred generator is had thus.This reaction causes the mechanical damping capacity of generator, this machinery damping capacity can reduce effectively said drive chain and/or its in mechanical oscillation, this mechanical oscillation has been represented the source of the generation of said unwanted harmonic power.
Described decay reference signal can be for example the decay power reference signal or the torque reference signal of decaying.In aspect this, said decay power reference signal is represented reference value or the rated value for the actual attenuation power of generator.Correspondingly, said decay torque reference signal is represented reference value or the rated value for the actual attenuation torque of generator.
Confirming of described rotary speed can be by means of the measuring process of the output that relies on suitable rotation speed sensor, realize by means of estimation procedure, wherein uses at least one input value so that estimate actual rotary speed at least approx.
In this document, term " generator " is used to any electromechanical equipment that can mechanical energy be converted into electric flux.In order to generate according to the basic necessary magnetic field of physical principle power transfer, said generator can have the coil and/or the permanent magnet of current drives.
Any electric power equipment can be represented in term " power converter ", and this electric power equipment is used to variable voltage and the frequency of said generator to the specified fixing voltage of power network and the adaptation of frequency.Power converter comprises generator bridge, and this generator bridge is operated so that to DC link power supplied as active rectifier in normal running.Said generator bridge can have any suitable topology with the abundant control of a series of use pulse width modulations (PWM) strategy and the semiconductor power switch equipment of adjusting.Power converter typically also is included in the bridge of conversion electrical energy between dc link and the power network.Because power converter is always accomplished frequency inverted, so this type of power converter often also is called as frequency converter.
Term " DC link voltage " is illustrated in the voltage of the DC link place existence of above-mentioned power converter.
The speed of the rotor of said generator can be represented especially in term " basic speed ", and the desired operation under the situation of this speed and any mechanical oscillation of wind turbine in the drive chain that does not have wind turbine is associated.Certainly, be in the variable-ratio wind turbine of preferred application if said generator is used in for the control method described in this document, then in time the said basic speed of passing will not be constant.
Drive chain comprises any mechanical component of wind turbine, and this mechanical component is connected at the upper reaches with respect to said generator from the function visual angle.Important drive chain assembly is for example rotor blade, wheel hub, main shaft and (if being suitable for) gearbox.
As above carried out as described in, said harmonic power component is sent to the DC link rather than the said power network of said power converter.This can provide the grid power advantage that humorous wave energy is reduced effectively.
Described method is particularly suitable for depending on the wind turbine of the actual wind condition that the variable rotational speed of utilizing rotor operates.Under this background, said " rotor " can be represented the rotor of said wind turbine, and this rotor comprises the rotor blade that is installed to wheel hub, and/or the rotor of said generator.Said wind turbine can be so-called direct driving wind turbine (main shaft of wind turbine rotor directly drives generator therein) or the wind turbine that comprises gearbox (it is connected between main shaft and the generator).
Say that descriptively described control method can not presented Mechanical Driven chain in the decay variable-ratio wind turbine and mechanical blade vibration especially under the situation of harmonic power to electrical network.For the mechanical oscillation of the drive chain/blade of decaying, the harmonic power under the resonance frequency of drive chain/blade is produced by said generator.As the harmonic power that is produced being sent to substituting of power network, power converter is sent to the DC link. capacitor of the DC link of power converter with this harmonic power, and it will be controlled at the corresponding DC link voltage that particular range changes.
According to one embodiment of present invention, the intensity of harmonic component of confirming the rotary speed of rotor comprises: the signal that (a) receives the actual rotary speed of the said rotor of expression; And (b) use the filter to suppress corresponding to the component of component frequency at least of said basic speed to come said signal is carried out filtering.This advantage that can provide is that the intensity of the harmonic component of the rotary speed of said rotor can easily and with effective and efficient manner be confirmed.
Described filter can be realized by means of hardware (electronics) filter, realize or realize by means of so-called compound filter (it depends on the combination between software filtering and the hardware filtering) by means of software filter.
Described filter can be single filter or the filter system that comprises different single filters.Especially, described filter can comprise high pass filter or band pass filter.
According to another embodiment of the present invention, confirm that the decay reference signal comprises: (a) receive signal through filtering from filter; And (b) the said intensity that receives of restriction through the signal of filtering.This advantage that can provide is, the intensity that will guarantee said decay reference signal will be maintained in the technical restriction with meaning, and can avoid the unwanted oversteer of said DC link voltage control.
Said decay reference signal can be by two limits value definition with the scope that is constrained to, and the absolute value of wherein said two limits values is identical and symbols said two limits values are different.
In aspect this, should be mentioned that the step of confirming said decay reference signal can comprise also optionally that the predefined gain amplifier of use amplifies said signal through filtering.During suitable amplifier can preferably be connected said filter and be configured between the limiting unit that is used for carrying out described limit procedure.
According to another embodiment of the present invention, further carry out control to the DC link voltage of power converter in response to said actual DC link voltage.This advantage that can provide is that realization can allow the accurately also closed-loop control of accurate control to the DC link voltage.
According to another embodiment of the present invention, further carry out control to the DC link voltage of power converter in response to the reference signal that is used for the DC link voltage.This advantage that can provide is that the accuracy of said DC link voltage can even further be improved.
According to another embodiment of the present invention, said method also comprises: utilization can suppress the measuring-signal of representing actual DC link voltage is carried out filtering corresponding to the other filter of the component of component frequency at least of the mechanical resonant frequency of the drive chain of said wind turbine.Therefore, the said frequency component after said filter can be relevant with the harmonic wave of said basic speed and/or this basic speed.This can mean the resonance frequency/harmonic wave in the dc link voltage that said filter can suppress to measure.Therefore, compare with the signal before the filter, the signal after the filter comprises more weak harmonic wave that the mechanical resonant frequency by said wind turbine drive chain causes or harmonic wave still less.
Said other filter can be a band stop filter, the harmonic voltage that exists at the DC of said power converter link place is not made response so that be responsible for the DC link controller of the said DC link voltage of control.Therefore, preferably design and to pass through said other filter so that only have the most ground of the signal section that is in the said fundamental frequency zone and is not in the frequency in the higher frequency zone the frequency response of said other filter.This advantage that can provide is that the bandwidth constraints of said DC link controller is removed.Therefore, described method also will can be applicable to the application of high relatively (for example being higher than 20Hz) of wherein said fundamental frequency.
According to another embodiment of the present invention, control said DC link voltage and comprise that the AC to DC that carries out in the generator bridge that is controlled at said power converter changes.Therefore, said generator bridge can be controlled by the generator control section of so-called power converter controller.
The reference signal of the quantity of power that according to another embodiment of the present invention, is used for being generated by said wind turbine is used to be controlled at the DC to AC that bridge carries out and changes.
In other words, described control method has also considered to be used for the gross power reference of said wind turbine.This advantage that can provide is that described control method can help the quantity of power that is generated by said wind turbine is maintained predeterminated level (level), and this predeterminated level is can be for example given by higher level's wind power plant controller of the general operation of a plurality of wind turbines of control wind power plant.
According to another embodiment of the present invention, control said DC link voltage and comprise that the DC to AC that carries out in the bridge that is controlled at said power converter changes.Therefore, said bridge can partly be controlled by the power grid control of so-called power converter controller.
The reference signal of the quantity of power that according to another embodiment of the present invention, is used for being generated by said wind turbine is used to control and will changes at the AC to DC that generator bridge is carried out.This means that described control method also considered to be used for the gross power reference of said wind turbine, this gross power is with reference to can be for example given by higher level's wind power plant controller of the general operation of a plurality of wind turbines of control wind power plant.This advantage that can provide is that described control method can help the quantity of power that is generated by said wind turbine is maintained predeterminated level.
According to a further aspect in the invention, a kind of control system that the DC link voltage of the power converter of the generator that connects wind turbine and power network is controlled of being used for is provided.The control system that is provided comprises: (a) be used for confirming generator rotor rotary speed first confirm the unit; (b) be used for confirming said rotor rotary speed harmonic component intensity second confirm the unit; Wherein said harmonic component has the frequency component of the basic speed that is different from said generator; (c) be used for confirming the unit, and (d) be used for controlling the control unit of the DC link voltage of said power converter in response to said determined decay reference signal according to the 3rd of the definite reference signal that decays of the intensity of determined said harmonic component.
Described control system is also based on following thought: through the DC link voltage of power controlling transducer, the mechanical oscillation of wind turbine and especially the mechanical oscillation of the drive chain of said wind turbine can be reduced effectively.
Should be mentioned that and depend on that concrete application, the unit of described control system can be physically different unit or can in the unit of at least one combination, realize.
According to one embodiment of present invention, said control system is realized by the power converter controller of the operation that is used for the power controlling transducer.Therefore; Said power converter controller comprises: (a) be used to be controlled at the first of the operation of the generator bridge of carrying out AC to DC conversion in the power converter, and (b) be used to be controlled at the second portion of the operation of the bridge of carrying out DC to AC conversion in the power converter.
Because described generator bridge is assigned to the wind turbine pusher side of generating pusher side or power converter, so said first often is known as engine controller.Correspondingly, because described bridge is assigned to the power network side of power converter, so said second portion often is known as electricity (power) net controller.
According to a further aspect in the invention, a kind of computer program that the DC link voltage of the power converter of the generator that connects wind turbine and power network is controlled of being used for is provided.This computer program is suitable for carrying out the method described in any one in aforementioned claim when being carried out by data processor.
That kind as used herein is intended to and the equivalent of quoting to the computer-readable medium that comprises instruction and/or program element quoting of computer program, and said instruction is used to control computer system to coordinate the performance of said method.
Can be with any suitable programming language (such as for example; JAVA, C++) said computer program is embodied as the computer-readable instruction code, and can said computer program be stored on the computer-readable medium (moveable magnetic disc, volatibility or nonvolatile memory, in-line memory/processor etc.).This instruction code can be operated and be used for computer or any other programmable device are programmed for the desired function of execution.Said computer program can obtain from network (such as the World Wide Web (WWW)), can be from the said computer program of this network download.
The present invention can realize by means of computer program (correspondingly, software).Yet the present invention also can realize by means of one or more special circuits (correspondingly, hardware).In addition, the present invention can also realize with the mixed form combination of software module and hardware module (that is, with).
Must be noted that, described embodiments of the invention with reference to different themes.Particularly, the claim of reference method type has been described some embodiment, and the comparable device type claim other embodiment are described.Yet; Those skilled in the art will infer from above and following description; Except belonging to any combination of characteristic of theme of one type; Any combination of (particularly, between the characteristic of the characteristic of the claim of Method type and the claim of type of device) also is considered to utilize this document and discloses between the characteristic relevant with different themes, only if statement is arranged in addition.
The aspect of obvious above definition of the present invention and other aspects from the example of the following embodiment that will be described, and explain aspect and other aspects of above definition of the present invention with reference to the example of embodiment.Below will come to describe in more detail the present invention, still, the invention is not restricted to this with reference to the example of embodiment.
Description of drawings
Fig. 1 illustrates the drive chain attenuation controller, and this drive chain attenuation controller provides the decay power reference signal of just being used by the different control system that are illustrated in the embodiments of the invention of describing in this document.
Fig. 2 illustrates the control system that is used for the drive chain attenuation process, wherein carries out the control of DC link voltage according to the first embodiment of the present invention by the generator control section of power converter controller.
Fig. 3 illustrates the control system that is used for the drive chain attenuation process, wherein carries out the control of DC link voltage by the generator control section of power converter controller according to a second embodiment of the present invention.
Fig. 4 illustrates the control system that is used for the drive chain attenuation process, and wherein a third embodiment in accordance with the invention is partly carried out the control of DC link voltage by the power grid control of power converter controller.
Fig. 5 illustrates the middle figure that descends that has described to be sent to from wind turbine the quantity of power of power network; Cause according to said middle decline of prior art attenuation process: (a) the of short duration rising of the voltage of the DC link of power converter, and the continuous oscillation of the amount that (b) transmits.
Fig. 6 illustrates the middle figure that descends that has described to be sent to from wind turbine the quantity of power of power network; Cause according to said middle decline of the attenuation process of in this document, describing: (a) the of short duration rising of the voltage of the DC link of power converter; Be the continuous oscillation of the voltage of DC link afterwards; And after the end that (b) in the middle of said, descends, the behavior relatively stably of the quantity of power that is transmitted.
Fig. 7 illustrates the drive chain attenuation controller, and this drive chain attenuation controller just provides the employed decay torque reference signal of different control system by the embodiments of the invention of describing in this document of expression.
Fig. 8 illustrates the control system of the drive chain attenuation controller that comprises Fig. 7, wherein carries out the control of DC link voltage by the generator control section of power converter controller.
Fig. 9 illustrates the control system of the drive chain attenuation controller that comprises Fig. 7, wherein partly carries out the control of DC link voltage by the power grid control of power converter controller.
Embodiment
Explanation in the accompanying drawing is schematic.Be noted that in different figure, identical reference marker or the reference marker different with the corresponding reference mark on first digit only be provided for similar or similar elements.
Fig. 1 illustrates drive chain attenuation controller 110, and this drive chain attenuation controller 110 provides the decay power reference signal P that is just being used by the different control system that are illustrated in the embodiments of the invention of describing in this document
DTD
Drive chain attenuation controller 110 comprises high pass filter 112, and this high pass filter 112 receives as input signal ω
gThe actual rotary speed of rotor of generator (also not describing) of wind turbine (not describing).This actual rotary speed ω
gFor example can measure by means of the speed/positional observer and/or the estimator of encoder and/or any kind.
According to the embodiments described herein, high pass filter 112 is realized by low pass filter 112a, by-pass line 112b and subtrator 112c.In addition, the output signal of high pass filter 112 is fed to amplifier 114, and this amplifier 114 has predetermined gain.In Fig. 1, this gain is called " decay gain " (DampGain).
As can be from seeing Fig. 1, the output signal that is provided by amplifier 114 be supplied to limiting unit 116, and this limiting unit 116 is with the output signal P of whole drive chain attenuation controller 110
DTDBe limited in from-P
Dtd_LimExtend to+P
Dtd_LimScope in.With decay power reference signal P
DTDBe limited in the unwanted oversteer that the advantage that provides in the predefined scope is to avoid the control system that further describes hereinafter to cause.According to the embodiments described herein, be used for decay power reference signal P
DTDLimits value-P
Dtd_LimWith+P
Dtd_LimDepend on the rated power of corresponding wind turbine.
Should be mentioned that the high pass filter among Fig. 1 can be by the filter of other type or filter system (such as the combination of band pass filter or several high pass filters) replacement.
Fig. 2 illustrates the control system 200 of the power converter controller (not describing) that is used for the drive chain attenuation process.This control system 200 comprises two parts: first 202, and it also is called as generator control section or engine controller in brief; And second portion 204, it also is called as power grid control part or power system controller in brief.According to the embodiments described herein, carry out the control of DC link voltage by the engine controller 202 of power converter controller.
As can be from seeing Fig. 2, the reference signal V that is used for harmonic voltage that will provide by computing unit 222
ACREFPresent to adder unit 224, this adder unit 224 is with signal V
ACREFBe added to expression and be used for the signal V of reference signal of fundamental voltage of the DC link of power converter
DCREFWill be from the output signal of adder unit 224 together with above-mentioned (measurement) DC link voltage V
DCBe fed to DC link controller 250 together.Output signal and signal V in response to adder unit 224
DC, DC link controller 250 confirms to be used for the reference signal P of the power that will be generated by generator
GenRef
In addition, with signal P
GenRefPresent to computing unit 262 to be used for calculating generator current reference signal I
Dqrefm, this dynamo current reference signal I
DqrefmThe reference signal of the magnitude of current that expression is used for being generated by generator.Based on this signal I
DqrefmThe signal I that measures with expression by the electric current of the actual generation of generator
Dqm, dynamo current controller 264 confirms to be used for the reference voltage signal V of the pulse width modulation (PWM) of AC to the DC conversion that will in the generator bridge (not describing) of power converter, carry out
Dqm
Should be mentioned that power reference signal P
GenRefAlso can be by torque reference signal T
GenRefReplacement.Provide other details with reference to Fig. 7,8 and 9 description below.
Will should be mentioned that so-called direct quadrature of sign " dq " expression or d-q rotary reference system in brief in addition, this referential is associated with common mathematical conversion through the analysis that is usually used in simplifying three-phase circuit.Under the situation of the three-phase circuit of balance, the application of d-q conversion reduces to two DC amounts with three AC amounts.Therefore, before the execution inverse transformation is with the three-phase AC result who recovers reality, can on these empty DC amounts, carry out the calculating of simplifying.
Power grid control part 204 comprises computing unit 272 shown in figure 2, and this computing unit 272 is used for the reference signal P in response to the gross power that will be generated by corresponding wind turbine
WTCRefCalculate mains current reference signal I
DqrefgThis reference signal P
WTCRefFor example can be from wind turbine machine controller (not describing) reception, said wind turbine machine controller is controlled the operation of whole wind turbine in known manner.
To represent should be by the signal I of the magnitude of current of power network (not describing) reception
DqrefgBe supplied to power network current controller 274.As seeing, in response to signal I from Fig. 2
Dqrefg, and the signal I that in fact receives by power network of the electric current of further measuring in response to expression
Dqg, power network current controller 274 is confirmed reference voltage signal V
Dqg, this reference voltage signal is the reference voltage signal of the pulse width modulation (PWM) of DC to the AC conversion that is used in the bridge of power converter, carrying out.
Say descriptively, in described control system 200, calculate and decay power P
DTDCorresponding DC link voltage is with reference to V
DCREFVariation.To have the two DC link voltage of DC component harmonic with reference to V
DCREFBe sent to DC link controller 250.The output of DC link controller 250 is that generator power is with reference to P
GenRefDynamo current controller 264 control generator powers by as the interior ring of engine controller are followed this reference.
Because the restriction of the bandwidth of DC link controller 250, when resonance frequency was low relatively, described control system 200 was specially suitable.
Fig. 3 illustrates the control system 300 that is used for the drive chain attenuation process, and wherein according to control system 200, the control of DC link voltage is also carried out by the generator control section 202 of corresponding power converter controller.Compare with control system 200, when mechanical resonant frequency is quite high (for example more than 20Hz), control system 300 is more suitably.
As can from seeing the comparison of Fig. 2 and Fig. 3, between two control system 200 and 300, having significant similitude.Succinct for this document below will concentrate on the difference between two control system 200 and 300.
By the output signal P of adder unit 352 with drive chain attenuation controller 110
DTDDirectly be added to the output P of DC link controller 250
DCRefSignal P
DCRefThe reference signal of the prime power that can be construed as to generate by generator.
Feedback signal V by the measurement of 340 pairs of DC link voltages of band stop filter
DCCarry out filtering, so that DC link controller 250 does not have response to the harmonic voltage of DC link under resonance frequency.
Fig. 4 illustrates the control system 400 that is used for the drive chain attenuation process, wherein forms contrast with the above embodiments, carries out the control of DC link voltage by the power grid control part 204 of corresponding power converter controller.
Once more, between control system 400 and above-mentioned two control system 200 and 300, there are many similitudes.Therefore, below will concentrate on difference between two control system 300 and 400.
As can be from seeing Fig. 4, the reference signal P of the power that will be used for generating by wind turbine
WTCRefNever the wind turbine machine controller of describing is sent to the adder unit 454 of engine controller 202.Adder unit 454 is with (a) decay power reference signal P
DTDBe added to (b) reference signal P
WTCRef, the reference signal P of the power that consequently is used for to generate by generator
GenRef
As can from Fig. 4 further see, in power system controller 204, DC link controller 205 is used for the reference signal V of fundamental voltage of the DC link of power converter in response to (a)
DCREF, and (b) the output signal of band stop filter 340 confirms to be used for the reference signal P of the quantity of power that will be received by power network
GridRef
To should be mentioned that once more in some applications that it possibly be favourable replacing band stop filter 340 by low pass filter.
When Fig. 5 illustrates traditional control procedure of having described when the operation of the power converter that is used for control connection generator and power network, be sent to Figure 58 0 of temporal correlation 582 of the quantity of power of power network from the generator of wind turbine.
As can be from seeing Fig. 5, under 584 situation about taking place that descend in the middle of in power curve 582 (for example because the unwanted voltage in the power network descend), the of short duration rising 594 in the temporal correlation of DC link voltage 590 appears.As can from Fig. 5 is further see, after power descends 584 end, in power curve 582, at the mechanical resonant frequency place of the drive chain of wind turbine great power oscillation 586 takes place.These vibrations 586 are decay lentamente in time only.
Fig. 6 illustrates corresponding Figure 68 0; This illustrates when the attenuation process that adopts according to the control system of describing in this document, from generator via descend 684 identical situation of the power the temporal correlation 682 of the actual quantity of power that is sent to power network of power converter.
Fig. 7 illustrates drive chain attenuation controller 710, and this drive chain attenuation controller 710 provides the decay torque reference signal T that is just being used by the different control system of the embodiments of the invention of describing in this document of expression
DTDThe structure of drive chain attenuation controller 710 is corresponding to the structure at the drive chain attenuation controller 110 shown in Fig. 1.Difference only is that the output of drive chain attenuation controller 710 is decay torque reference signal T
DTDRather than decay power reference signal P
DTDTherefore, use is with the output signal T of whole drive chain attenuation controller 710
DTDBe limited in from-T
Dtd_LimExtend to+T
Dtd_LimScope in limiting unit 716.
Should be mentioned that the high pass filter in Fig. 7 can be by the filter of other type or filter system (such as the combination of band pass filter or several high pass filters) replacement.
Fig. 8 illustrates the control system 800 of the drive chain attenuation controller 710 that is included in shown in Fig. 7.The structure of control system 800 is corresponding to the structure in the control system shown in Fig. 3 300.Control system 800 also comprises two parts: first 802, and it also is called as generator control section or engine controller in brief; And second portion 804, it also is called as power grid control part or power system controller in brief.According to the embodiments described herein, carry out the control of DC link voltage by the engine controller 802 of power converter controller.
As can be from control system 800 with seeing the comparison between the control system shown in Fig. 3 300, the decay torque reference signal T that in adder unit 352, will provide by drive chain attenuation controller 710
DTDWith the reference signal T that provides by DC link controller 250
DCRefCarry out addition.Reference signal T
DCRefExpression should be by the basic torque of generator generation.In addition, the output of adder unit 352 is reference signal T of the amount of the torque that is used for being generated by generator
GenRef
Except these differences, control system 800 is with consistent each other with operation in the structure of the control system shown in Fig. 3 300.Therefore, for the terseness on this aspect of describing, can be with reference to above description.
Fig. 9 illustrates the control system 900 that comprises drive chain attenuation controller 710, wherein carries out the control of DC link voltage by the power grid control part 804 of power converter controller.The structure of control system 900 is corresponding to the structure in the control system shown in Fig. 4 400.Difference only is, the decay torque reference signal T that will be provided by drive chain attenuation controller 710 by means of adder unit 454
DTDReference signal T with the torque that is used for to generate by generator
WTCRefCarry out addition.Especially, reference signal T
WTCRefCan provide by the wind turbine machine controller of not describing.
The output of adder unit 454 is reference signal T
GenRef, with reference to control system 800 this reference signal has been described hereinbefore.This reference signal T
GenRefThe amount of the torque of indicating to generate by generator.
Except these differences, control system 900 is with consistent each other with operation in the structure of the control system shown in Fig. 4 400.Therefore, for the terseness of the document on this aspect of describing, can be with reference to above description.
The embodiments of the invention that in this document, propose of more than illustrating especially, can provide following advantage:
(A) vibration of the torque of the drive chain of wind turbine (particularly blade) and speed can be by decay effectively.
(B) power oscillation can not be forwarded to power network.
(C) enforcement of the present invention in actual available horsepower transducer can realize by means of software.Therefore, for combining the available wind turbine to realize the present invention, there is not cost or only has insignificant fringe cost.
Should be noted that term " comprises " does not get rid of other elements or step, and does not get rid of a plurality of to article " " or " one 's " use.In addition, can be with making up with the different embodiment element of describing that is associated.Shall also be noted that the reference marker in the claim should not be interpreted as the scope of restriction claim.
Claims (13)
1. one kind is used for method that the DC link voltage of the power converter of the generator that connects wind turbine and power network is controlled, and this method comprises:
Confirm the rotary speed (ω of the rotor of generator
g);
Confirm the rotary speed (ω of said rotor
g) the intensity of harmonic component, wherein said harmonic component has the frequency component of the basic speed that is different from generator;
Confirm decay reference signal (P according to the intensity of determined harmonic component
DTD, T
DTD); And
In response to determined decay reference signal (P
DTD, T
DTD) control the DC link voltage (V of said power converter
DC).
2. like the described method of aforementioned claim, wherein, confirm the rotary speed (ω of said rotor
g) the intensity of harmonic component comprise:
Receive the actual rotary speed (ω of the said rotor of expression
g) signal; And
Use can suppress to come said signal is carried out filtering corresponding to the filter (112) of the component of component frequency at least of said basic speed.
3. like the described method of aforementioned claim, wherein, confirm decay reference signal (P
DTD, T
DTD) comprising:
Receive signal from filter (112) through filtering; And
Limit the intensity of the signal of received process filtering.
As aforementioned claim in any one described method, wherein,
Further in response to said actual DC link voltage (V
DC) carry out the DC link voltage of power converter is controlled.
5. as the described method of aforementioned claim, wherein,
Further in response to being used for DC link voltage (V
DC) reference signal (V
DCREF) carry out DC link voltage (V to power converter
DC) control.
6. like any one the described method in the aforementioned claim 4 to 5, also comprise:
Use can suppress other filter (340) corresponding to the component of component frequency at least of the mechanical resonant frequency of the drive chain of said wind turbine to representing actual DC link voltage (V
DC) measuring-signal (V
DC) carry out filtering.
7. like any one the described method in the aforementioned claim, wherein, control said DC link voltage (V
DC) comprising:
Being controlled at the AC to DC that carries out in the generator bridge of said power converter changes.
8. as the described method of aforementioned claim, wherein, the reference signal (P of the quantity of power that is used for generating by said wind turbine
WTCRef) be used to be controlled at the DC to AC that carries out in the bridge and change.
9. like any one the described method in the aforementioned claim, wherein, control said DC link voltage and comprise:
Being controlled at the DC to AC that carries out in the bridge of said power converter changes.
10. as the described method of aforementioned claim, wherein, the reference signal (P of the quantity of power that is used for generating by said wind turbine
WTCRef) be used to be controlled at the AC to DC that carries out in the generator bridge and change.
11. one kind is used for control system that the DC link voltage of the power converter of the generator that connects wind turbine and power network is controlled, this control system (200,300,400,800,900) comprising:
First confirms the unit, is used for the rotary speed (ω of the rotor of definite generator
g);
Second confirms the unit, is used for confirming the rotary speed (ω of said rotor
g) the intensity of harmonic component, wherein said harmonic component has the frequency component of the basic speed that is different from said generator;
The 3rd confirms the unit, is used for confirming decay reference signal (P according to the intensity of the said harmonic component of confirm
DTD, T
DTD); And
Control unit is used in response to determined decay reference signal (P
DTD, T
DTD) control said power converter DC link voltage (V
DC).
12. like the described control system of aforementioned claim, wherein,
Said control system (200; 300; 400) realize that by the power converter controller of the operation that is used to control said power converter said power converter controller comprises: first (202), it is used to be controlled at the operation of the generator bridge of carrying out AC to DC conversion in the power converter; And
Second portion (204), it is used to be controlled at the operation of the bridge of carrying out DC to AC conversion in the power converter.
13. one kind is used for computer program that the DC link voltage of the power converter of the generator that connects wind turbine and power network is controlled; When being carried out by data processor, said computer program is suitable for enforcement of rights and requires any one the described method in 1 to 10.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| EP11154346.8A EP2487784B1 (en) | 2011-02-14 | 2011-02-14 | Method and system for controlling a DC link voltage of a power converter connecting an electric generator of a wind turbine with a power grid |
| EP11154346.8 | 2011-02-14 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102638035A true CN102638035A (en) | 2012-08-15 |
| CN102638035B CN102638035B (en) | 2015-07-22 |
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| CN201210032359.8A Active CN102638035B (en) | 2011-02-14 | 2012-02-14 | Method and system for controlling a DC link voltage of a power converter |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US9543852B2 (en) |
| EP (1) | EP2487784B1 (en) |
| CN (1) | CN102638035B (en) |
| DK (1) | DK2487784T3 (en) |
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| CN108646092A (en) * | 2018-03-30 | 2018-10-12 | 中国电力科学研究院有限公司 | A kind of determination method and apparatus of new energy grid connection system Oscillatory Coupling frequency |
| CN109755958A (en) * | 2017-11-07 | 2019-05-14 | 西门子歌美飒可再生能源公司 | Harmonic control of a converter |
| CN111336064A (en) * | 2018-12-19 | 2020-06-26 | 维斯塔斯风力系统集团公司 | Wind turbine control based on combined power reference |
| CN112994480A (en) * | 2019-12-02 | 2021-06-18 | Abb瑞士股份有限公司 | Stabilizing DC link voltage with adaptive gain |
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| EP2662561A1 (en) * | 2012-05-09 | 2013-11-13 | Siemens Aktiengesellschaft | Method and arrangement for damping a shaft oscillation |
| DK2865889T3 (en) * | 2013-10-24 | 2018-02-19 | Siemens Ag | Attenuation of wind turbine transmission fluctuations |
| EP2871740B1 (en) * | 2013-11-11 | 2017-10-04 | General Electric Technology GmbH | Control of DC transmission lines |
| CN107076116B (en) * | 2014-10-13 | 2019-04-23 | 维斯塔斯风力系统集团公司 | For reducing the control system for wind turbine disturbed in power grid |
| CN108599253A (en) * | 2018-05-25 | 2018-09-28 | 国家电网公司西北分部 | A kind of combination control method of Wind turbines field grade primary frequency modulation and damping control |
| EP3779180A1 (en) * | 2019-08-14 | 2021-02-17 | Siemens Gamesa Renewable Energy A/S | Controlling a wind farm with wind turbines that are damping tower oscillations |
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| CN109755958A (en) * | 2017-11-07 | 2019-05-14 | 西门子歌美飒可再生能源公司 | Harmonic control of a converter |
| CN109755958B (en) * | 2017-11-07 | 2023-10-03 | 西门子歌美飒可再生能源公司 | Harmonic control of a converter |
| CN108646092A (en) * | 2018-03-30 | 2018-10-12 | 中国电力科学研究院有限公司 | A kind of determination method and apparatus of new energy grid connection system Oscillatory Coupling frequency |
| CN111336064A (en) * | 2018-12-19 | 2020-06-26 | 维斯塔斯风力系统集团公司 | Wind turbine control based on combined power reference |
| CN111336064B (en) * | 2018-12-19 | 2022-02-22 | 维斯塔斯风力系统集团公司 | Wind turbine control based on combined power reference |
| CN112994480A (en) * | 2019-12-02 | 2021-06-18 | Abb瑞士股份有限公司 | Stabilizing DC link voltage with adaptive gain |
| US11515819B2 (en) | 2019-12-02 | 2022-11-29 | Abb Schweiz Ag | Stabilizing DC link voltage with adaptive gain |
Also Published As
| Publication number | Publication date |
|---|---|
| DK2487784T3 (en) | 2013-09-30 |
| US9543852B2 (en) | 2017-01-10 |
| CN102638035B (en) | 2015-07-22 |
| EP2487784B1 (en) | 2013-08-21 |
| US20120205911A1 (en) | 2012-08-16 |
| EP2487784A1 (en) | 2012-08-15 |
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